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<div class="header">
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<div class="title">local_estimator.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * estimator.h</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: Mar 22, 2012</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *      Author: aitor</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#ifndef REC_FRAMEWORK_LOCAL_ESTIMATOR_H_</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define REC_FRAMEWORK_LOCAL_ESTIMATOR_H_</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/3d_rec_framework/feature_wrapper/normal_estimator.h&gt;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/uniform_sampling.h&gt;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/mls.h&gt;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;pcl/keypoints/harris_3d.h&gt;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;pcl/keypoints/sift_keypoint.h&gt;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;pcl/keypoints/susan.h&gt;</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;{</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  <span class="keyword">template</span>&lt;&gt;</div>
<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="structpcl_1_1_s_i_f_t_keypoint_field_selector_3_01_point_x_y_z_01_4.html">   21</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1_s_i_f_t_keypoint_field_selector.html">SIFTKeypointFieldSelector</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a>&gt;</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    {</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;      operator () (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> &amp; p)<span class="keyword"> const</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;        <span class="keywordflow">return</span> p.z;</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;      }</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    };</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;}</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160; </div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;{</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="keyword">namespace </span>rec_3d_framework</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  {</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_keypoint_extractor.html">   37</a></span>&#160;      <span class="keyword">class </span><a class="code" href="classpcl_1_1rec__3d__framework_1_1_keypoint_extractor.html">KeypointExtractor</a></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;      {</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr PointInTPtr;</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr PointOutTPtr;</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;        <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr input_;</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;        <span class="keywordtype">float</span> radius_;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        setInputCloud (PointInTPtr &amp; input)</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        {</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;          input_ = input;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        }</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;        setSupportRadius (<span class="keywordtype">float</span> f)</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        {</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;          radius_ = f;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        }</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        compute (PointOutTPtr &amp; keypoints) = 0;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        setNormals (<span class="keyword">const</span> pcl::PointCloud&lt;pcl::Normal&gt;::Ptr &amp; <span class="comment">/*normals*/</span>)</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        }</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        needNormals ()</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        {</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        }</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      };</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_uniform_sampling_extractor.html">   76</a></span>&#160;      <span class="keyword">class </span><a class="code" href="classpcl_1_1rec__3d__framework_1_1_uniform_sampling_extractor.html">UniformSamplingExtractor</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_keypoint_extractor.html">KeypointExtractor</a>&lt;PointInT&gt;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      {</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">private</span>:</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr PointInTPtr;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <span class="keywordtype">bool</span> filter_planar_;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_keypoint_extractor.html">KeypointExtractor&lt;PointInT&gt;::input_</a>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_keypoint_extractor.html">KeypointExtractor&lt;PointInT&gt;::radius_</a>;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <span class="keywordtype">float</span> sampling_density_;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        boost::shared_ptr&lt;std::vector&lt;std::vector&lt;int&gt; &gt; &gt; neighborhood_indices_;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        boost::shared_ptr&lt;std::vector&lt;std::vector&lt;float&gt; &gt; &gt; neighborhood_dist_;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        filterPlanar (PointInTPtr &amp; input, PointInTPtr &amp; keypoints_cloud)</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        {</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;          <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;int&gt;</a> filtered_keypoints;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;          <span class="comment">//create a search object</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;          <span class="keyword">typename</span> pcl::search::Search&lt;PointInT&gt;::Ptr tree;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;          <span class="keywordflow">if</span> (input-&gt;isOrganized ())</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;            tree.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html">pcl::search::OrganizedNeighbor&lt;PointInT&gt;</a> ());</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;            tree.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt;PointInT&gt;</a> (<span class="keyword">false</span>));</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;          tree-&gt;<a class="code" href="classpcl_1_1search_1_1_search.html#a3f7aa9ba73d098c204bc8a6b9dd293dc">setInputCloud</a> (input);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;          neighborhood_indices_.reset (<span class="keyword">new</span> std::vector&lt;std::vector&lt;int&gt; &gt;);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;          neighborhood_indices_-&gt;resize (keypoints_cloud-&gt;points.size ());</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;          neighborhood_dist_.reset (<span class="keyword">new</span> std::vector&lt;std::vector&lt;float&gt; &gt;);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;          neighborhood_dist_-&gt;resize (keypoints_cloud-&gt;points.size ());</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;          filtered_keypoints.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (keypoints_cloud-&gt;points.size ());</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;          <span class="keywordtype">int</span> good = 0;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; keypoints_cloud-&gt;points.size (); i++)</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;          {</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;            <span class="keywordflow">if</span> (tree-&gt;<a class="code" href="classpcl_1_1search_1_1_search.html#a441f41e648d284d68e1f2015d40f5e7c">radiusSearch</a> (keypoints_cloud-&gt;points[i], radius_, (*neighborhood_indices_)[good], (*neighborhood_dist_)[good]))</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;            {</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;              EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;              Eigen::Vector4f xyz_centroid;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;              EIGEN_ALIGN16 Eigen::Vector3f eigenValues;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;              EIGEN_ALIGN16 Eigen::Matrix3f eigenVectors;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;              <span class="comment">//compute planarity of the region</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;              <a class="code" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">computeMeanAndCovarianceMatrix</a> (*input, (*neighborhood_indices_)[good], covariance_matrix, xyz_centroid);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;              <a class="code" href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a> (covariance_matrix, eigenVectors, eigenValues);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;              <span class="keywordtype">float</span> eigsum = eigenValues.sum ();</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;              <span class="keywordflow">if</span> (!pcl_isfinite(eigsum))</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;              {</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;                PCL_ERROR(<span class="stringliteral">&quot;Eigen sum is not finite\n&quot;</span>);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;              }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;              <span class="keywordflow">if</span> ((fabs (eigenValues[0] - eigenValues[1]) &lt; 1.5e-4) || (eigsum != 0 &amp;&amp; fabs (eigenValues[0] / eigsum) &gt; 1.e-2))</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;              {</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;                <span class="comment">//region is not planar, add to filtered keypoint</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;                keypoints_cloud-&gt;points[good] = keypoints_cloud-&gt;points[i];</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;                good++;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;              }</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;            }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;          }</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;          neighborhood_indices_-&gt;resize (good);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;          neighborhood_dist_-&gt;resize (good);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;          keypoints_cloud-&gt;points.resize (good);</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;          neighborhood_indices_-&gt;clear ();</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;          neighborhood_dist_-&gt;clear ();</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        }</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        setFilterPlanar (<span class="keywordtype">bool</span> b)</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        {</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;          filter_planar_ = b;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        }</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        setSamplingDensity (<span class="keywordtype">float</span> f)</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        {</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;          sampling_density_ = f;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        }</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        compute (PointInTPtr &amp; keypoints)</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        {</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;          keypoints.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;          <a class="code" href="classpcl_1_1_uniform_sampling.html">pcl::UniformSampling&lt;PointInT&gt;</a> keypoint_extractor;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;          keypoint_extractor.<a class="code" href="classpcl_1_1_uniform_sampling.html#aca9ee065b797d845f506a6390bcdc064">setRadiusSearch</a> (sampling_density_);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;          keypoint_extractor.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (input_);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;          keypoint_extractor.<a class="code" href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">filter</a> (*keypoints);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;          <span class="keywordflow">if</span> (filter_planar_)</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;            filterPlanar (input_, keypoints);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        }</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      };</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_s_i_f_t_keypoint_extractor.html">  177</a></span>&#160;      <span class="keyword">class </span><a class="code" href="classpcl_1_1rec__3d__framework_1_1_s_i_f_t_keypoint_extractor.html">SIFTKeypointExtractor</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_keypoint_extractor.html">KeypointExtractor</a>&lt;PointInT&gt;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      {</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr PointInTPtr;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_keypoint_extractor.html">KeypointExtractor&lt;PointInT&gt;::input_</a>;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_keypoint_extractor.html">KeypointExtractor&lt;PointInT&gt;::radius_</a>;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        compute (PointInTPtr &amp; keypoints)</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        {</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;          keypoints.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;          <span class="keyword">typename</span> pcl::PointCloud&lt;pcl::PointXYZI&gt;::Ptr intensity_keypoints (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZI&gt;</a>);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;          <a class="code" href="classpcl_1_1_s_i_f_t_keypoint.html">pcl::SIFTKeypoint&lt;PointInT, pcl::PointXYZI&gt;</a> sift3D;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;          sift3D.<a class="code" href="classpcl_1_1_s_i_f_t_keypoint.html#aa7b165d782eca9c9d226504b84729439">setScales</a> (0.003f, 3, 2);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;          sift3D.<a class="code" href="classpcl_1_1_s_i_f_t_keypoint.html#a5fcabfa4b90cc77cf0c18a5b263d06a0">setMinimumContrast</a> (0.1f);</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;          sift3D.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (input_);</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;          sift3D.<a class="code" href="classpcl_1_1_keypoint.html#a9dbce2da2ea97dcb4f5635df33a129c9">setSearchSurface</a> (input_);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;          sift3D.<a class="code" href="classpcl_1_1_keypoint.html#a046a7cd11598b06d2076da69a3100e4b">compute</a> (*intensity_keypoints);</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;          <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (*intensity_keypoints, *keypoints);</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        }</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      };</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_s_i_f_t_surface_keypoint_extractor.html">  201</a></span>&#160;      <span class="keyword">class </span><a class="code" href="classpcl_1_1rec__3d__framework_1_1_s_i_f_t_surface_keypoint_extractor.html">SIFTSurfaceKeypointExtractor</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_keypoint_extractor.html">KeypointExtractor</a>&lt;PointInT&gt;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      {</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr PointInTPtr;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        pcl::PointCloud&lt;pcl::Normal&gt;::Ptr normals_;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_keypoint_extractor.html">KeypointExtractor&lt;PointInT&gt;::input_</a>;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_keypoint_extractor.html">KeypointExtractor&lt;PointInT&gt;::radius_</a>;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        needNormals ()</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        {</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        }</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        setNormals (<span class="keyword">const</span> pcl::PointCloud&lt;pcl::Normal&gt;::Ptr &amp; normals)</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        {</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;          normals_ = normals;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        }</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        compute (PointInTPtr &amp; keypoints)</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        {</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;          <span class="keywordflow">if</span> (normals_ == 0 || (normals_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () != input_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ()))</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;            PCL_WARN(<span class="stringliteral">&quot;SIFTSurfaceKeypointExtractor -- Normals are not valid\n&quot;</span>);</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;          keypoints.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;          <span class="keyword">typename</span> pcl::PointCloud&lt;pcl::PointNormal&gt;::Ptr input_cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointNormal&gt;</a>);</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;          input_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = input_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;          input_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = input_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;          input_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (input_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> * input_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>);</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; input_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); i++)</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;          {</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;            input_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].getVector3fMap () = input_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].getVector3fMap ();</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;            input_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].getNormalVector3fMap () = normals_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].getNormalVector3fMap ();</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;          }</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;          <span class="keyword">typename</span> pcl::PointCloud&lt;pcl::PointXYZI&gt;::Ptr intensity_keypoints (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZI&gt;</a>);</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;          <a class="code" href="classpcl_1_1_s_i_f_t_keypoint.html">pcl::SIFTKeypoint&lt;pcl::PointNormal, pcl::PointXYZI&gt;</a> sift3D;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;          sift3D.<a class="code" href="classpcl_1_1_s_i_f_t_keypoint.html#aa7b165d782eca9c9d226504b84729439">setScales</a> (0.003f, 3, 2);</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;          sift3D.<a class="code" href="classpcl_1_1_s_i_f_t_keypoint.html#a5fcabfa4b90cc77cf0c18a5b263d06a0">setMinimumContrast</a> (0.0);</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;          sift3D.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (input_cloud);</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;          sift3D.<a class="code" href="classpcl_1_1_keypoint.html#a9dbce2da2ea97dcb4f5635df33a129c9">setSearchSurface</a> (input_cloud);</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;          sift3D.<a class="code" href="classpcl_1_1_keypoint.html#a046a7cd11598b06d2076da69a3100e4b">compute</a> (*intensity_keypoints);</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;          <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (*intensity_keypoints, *keypoints);</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        }</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      };</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> NormalT = pcl::Normal&gt;</div>
<div class="line"><a name="l00251"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_harris_keypoint_extractor.html">  251</a></span>&#160;      <span class="keyword">class </span><a class="code" href="classpcl_1_1rec__3d__framework_1_1_harris_keypoint_extractor.html">HarrisKeypointExtractor</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_keypoint_extractor.html">KeypointExtractor</a>&lt;PointInT&gt;</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      {</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        pcl::PointCloud&lt;pcl::Normal&gt;::Ptr normals_;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr PointInTPtr;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_keypoint_extractor.html">KeypointExtractor&lt;PointInT&gt;::input_</a>;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_keypoint_extractor.html">KeypointExtractor&lt;PointInT&gt;::radius_</a>;</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        <span class="keyword">typename</span> pcl::HarrisKeypoint3D&lt;PointInT, pcl::PointXYZI&gt;::ResponseMethod m_;</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        <span class="keywordtype">float</span> non_max_radius_;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;        <span class="keywordtype">float</span> threshold_;</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;        <a class="code" href="classpcl_1_1rec__3d__framework_1_1_harris_keypoint_extractor.html">HarrisKeypointExtractor</a> ()</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;        {</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;          m_ = <a class="code" href="classpcl_1_1_harris_keypoint3_d.html">pcl::HarrisKeypoint3D&lt;PointInT, pcl::PointXYZI&gt;::HARRIS</a>;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;          non_max_radius_ = 0.01f;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;          threshold_ = 0.f;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;        }</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;        needNormals ()</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;        {</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;        }</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;        setNormals (<span class="keyword">const</span> pcl::PointCloud&lt;pcl::Normal&gt;::Ptr &amp; normals)</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;        {</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;          normals_ = normals;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;        }</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;        setThreshold(<span class="keywordtype">float</span> t) {</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;          threshold_ = t;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;        }</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;        setResponseMethod (<span class="keyword">typename</span> pcl::HarrisKeypoint3D&lt;PointInT, pcl::PointXYZI&gt;::ResponseMethod m)</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;        {</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;          m_ = m;</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;        }</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;        setNonMaximaRadius(<span class="keywordtype">float</span> r) {</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;          non_max_radius_ = r;</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;        }</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;        compute (PointInTPtr &amp; keypoints)</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        {</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;          keypoints.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160; </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;          <span class="keywordflow">if</span> (normals_ == 0 || (normals_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () != input_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ()))</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;            PCL_WARN(<span class="stringliteral">&quot;HarrisKeypointExtractor -- Normals are not valid\n&quot;</span>);</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;          <span class="keyword">typename</span> pcl::PointCloud&lt;pcl::PointXYZI&gt;::Ptr intensity_keypoints (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZI&gt;</a>);</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160; </div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;          <a class="code" href="classpcl_1_1_harris_keypoint3_d.html">pcl::HarrisKeypoint3D&lt;PointInT, pcl::PointXYZI&gt;</a> harris;</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;          harris.<a class="code" href="classpcl_1_1_harris_keypoint3_d.html#ab7d78e7ad7d9505fea7bfa7d2e836023">setNonMaxSupression</a> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;          harris.<a class="code" href="classpcl_1_1_harris_keypoint3_d.html#af0d6b4d9dae5e0ff5137c19b4352e27e">setRefine</a> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;          harris.<a class="code" href="classpcl_1_1_harris_keypoint3_d.html#ad5874363fb23e47c4d3bb038fcb30c1c">setThreshold</a> (threshold_);</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;          harris.<a class="code" href="classpcl_1_1_harris_keypoint3_d.html#a5699be5c91d0aa6294d1db9d185c3790">setInputCloud</a> (input_);</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;          harris.<a class="code" href="classpcl_1_1_harris_keypoint3_d.html#a70fba15fb0957bf087d3a17b096545c7">setNormals</a> (normals_);</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;          harris.<a class="code" href="classpcl_1_1_harris_keypoint3_d.html#a9c95472adc1a41da8860edae7fbf9e90">setRadius</a> (non_max_radius_);</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;          harris.<a class="code" href="classpcl_1_1_keypoint.html#acb901dd8879ee9a34b3a87d1cb6d6a37">setRadiusSearch</a> (non_max_radius_);</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;          harris.<a class="code" href="classpcl_1_1_harris_keypoint3_d.html#abf699289812b5dc5cc79b97df93767a1">setMethod</a> (m_);</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;          harris.<a class="code" href="classpcl_1_1_keypoint.html#a046a7cd11598b06d2076da69a3100e4b">compute</a> (*intensity_keypoints);</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160; </div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;          <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (*intensity_keypoints, *keypoints);</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;        }</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      };</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160; </div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> NormalT = pcl::Normal&gt;</div>
<div class="line"><a name="l00325"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_s_u_s_a_n_keypoint_extractor.html">  325</a></span>&#160;      <span class="keyword">class </span><a class="code" href="classpcl_1_1rec__3d__framework_1_1_s_u_s_a_n_keypoint_extractor.html">SUSANKeypointExtractor</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_keypoint_extractor.html">KeypointExtractor</a>&lt;PointInT&gt;</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;      {</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160; </div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;        pcl::PointCloud&lt;pcl::Normal&gt;::Ptr normals_;</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr PointInTPtr;</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_keypoint_extractor.html">KeypointExtractor&lt;PointInT&gt;::input_</a>;</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_keypoint_extractor.html">KeypointExtractor&lt;PointInT&gt;::radius_</a>;</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160; </div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;        <a class="code" href="classpcl_1_1rec__3d__framework_1_1_s_u_s_a_n_keypoint_extractor.html">SUSANKeypointExtractor</a> ()</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;        {</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160; </div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;        }</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160; </div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;        needNormals ()</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;        {</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;        }</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160; </div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;        setNormals (<span class="keyword">const</span> pcl::PointCloud&lt;pcl::Normal&gt;::Ptr &amp; normals)</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;        {</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;          normals_ = normals;</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;        }</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160; </div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;        compute (PointInTPtr &amp; keypoints)</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;        {</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;          keypoints.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160; </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;          <span class="keywordflow">if</span> (normals_ == 0 || (normals_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () != input_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ()))</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;            PCL_WARN(<span class="stringliteral">&quot;SUSANKeypointExtractor -- Normals are not valid\n&quot;</span>);</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160; </div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;          <span class="keyword">typename</span> pcl::PointCloud&lt;pcl::PointXYZI&gt;::Ptr intensity_keypoints (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZI&gt;</a>);</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160; </div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;          <a class="code" href="classpcl_1_1_s_u_s_a_n_keypoint.html">pcl::SUSANKeypoint&lt;PointInT, pcl::PointXYZI&gt;</a> susan;</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;          susan.<a class="code" href="classpcl_1_1_s_u_s_a_n_keypoint.html#a59c1126fb24e12e248d688810fd7e218">setNonMaxSupression</a> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;          susan.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (input_);</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;          susan.<a class="code" href="classpcl_1_1_s_u_s_a_n_keypoint.html#af267b2591d5c90eaa383dfc4e4bdd3fb">setNormals</a> (normals_);</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;          susan.<a class="code" href="classpcl_1_1_s_u_s_a_n_keypoint.html#a46113c414b9876ad17ce12285acfd98e">setRadius</a> (0.01f);</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;          susan.<a class="code" href="classpcl_1_1_keypoint.html#acb901dd8879ee9a34b3a87d1cb6d6a37">setRadiusSearch</a> (0.01f);</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;          susan.<a class="code" href="classpcl_1_1_keypoint.html#a046a7cd11598b06d2076da69a3100e4b">compute</a> (*intensity_keypoints);</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160; </div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;          <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (*intensity_keypoints, *keypoints);</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;        }</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;      };</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160; </div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> FeatureT&gt;</div>
<div class="line"><a name="l00375"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_local_estimator.html">  375</a></span>&#160;      <span class="keyword">class </span><a class="code" href="classpcl_1_1rec__3d__framework_1_1_local_estimator.html">LocalEstimator</a></div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;      {</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr PointInTPtr;</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;FeatureT&gt;::Ptr FeatureTPtr;</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160; </div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;        <span class="keyword">typename</span> boost::shared_ptr&lt;PreProcessorAndNormalEstimator&lt;PointInT, pcl::Normal&gt; &gt; normal_estimator_;</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;        <span class="comment">//typename boost::shared_ptr&lt;UniformSampling&lt;PointInT&gt; &gt; keypoint_extractor_;</span></div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;        std::vector&lt;typename boost::shared_ptr&lt;KeypointExtractor&lt;PointInT&gt; &gt; &gt; keypoint_extractor_; <span class="comment">//this should be a vector</span></div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;        <span class="keywordtype">float</span> support_radius_;</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;        <span class="comment">//bool filter_planar_;</span></div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160; </div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;        <span class="keywordtype">bool</span> adaptative_MLS_;</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160; </div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;        boost::shared_ptr&lt;std::vector&lt;std::vector&lt;int&gt; &gt; &gt; neighborhood_indices_;</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;        boost::shared_ptr&lt;std::vector&lt;std::vector&lt;float&gt; &gt; &gt; neighborhood_dist_;</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160; </div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;        <span class="comment">//std::vector&lt; std::vector&lt;int&gt; &gt; neighborhood_indices_;</span></div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;        <span class="comment">//std::vector&lt; std::vector&lt;float&gt; &gt; neighborhood_dist_;</span></div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160; </div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;        computeKeypoints (PointInTPtr &amp; cloud, PointInTPtr &amp; keypoints, pcl::PointCloud&lt;pcl::Normal&gt;::Ptr &amp; normals)</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;        {</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;          keypoints.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; keypoint_extractor_.size (); i++)</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;          {</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;            keypoint_extractor_[i]-&gt;setInputCloud (cloud);</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;            <span class="keywordflow">if</span> (keypoint_extractor_[i]-&gt;needNormals ())</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;              keypoint_extractor_[i]-&gt;setNormals (normals);</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160; </div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;            keypoint_extractor_[i]-&gt;setSupportRadius (support_radius_);</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160; </div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;            PointInTPtr detected_keypoints;</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;            keypoint_extractor_[i]-&gt;compute (detected_keypoints);</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;            *keypoints += *detected_keypoints;</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;          }</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;        }</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160; </div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160; </div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;        <a class="code" href="classpcl_1_1rec__3d__framework_1_1_local_estimator.html">LocalEstimator</a> ()</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;        {</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;          adaptative_MLS_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;          keypoint_extractor_.clear ();</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;        }</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160; </div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;        setAdaptativeMLS (<span class="keywordtype">bool</span> b)</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;        {</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;          adaptative_MLS_ = b;</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;        }</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160; </div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;        estimate (PointInTPtr &amp; in, PointInTPtr &amp; processed, PointInTPtr &amp; keypoints, FeatureTPtr &amp; signatures)=0;</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160; </div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;        setNormalEstimator (boost::shared_ptr&lt;<a class="code" href="classpcl_1_1rec__3d__framework_1_1_pre_processor_and_normal_estimator.html">PreProcessorAndNormalEstimator&lt;PointInT, pcl::Normal&gt;</a> &gt; &amp; ne)</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;        {</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;          normal_estimator_ = ne;</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;        }</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160; </div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00440"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_local_estimator.html#a6eca5d0c6db132f2e743a56a2430401a">  440</a></span>&#160;        <a class="code" href="classpcl_1_1rec__3d__framework_1_1_local_estimator.html#a6eca5d0c6db132f2e743a56a2430401a">addKeypointExtractor</a> (boost::shared_ptr&lt;<a class="code" href="classpcl_1_1rec__3d__framework_1_1_keypoint_extractor.html">KeypointExtractor&lt;PointInT&gt;</a> &gt; &amp; ke)</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;        {</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;          keypoint_extractor_.push_back (ke);</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;        }</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160; </div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;        setKeypointExtractors (std::vector&lt;<span class="keyword">typename</span> boost::shared_ptr&lt;<a class="code" href="classpcl_1_1rec__3d__framework_1_1_keypoint_extractor.html">KeypointExtractor&lt;PointInT&gt;</a> &gt; &gt; &amp; ke)</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;        {</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;          keypoint_extractor_ = ke;</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;        }</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160; </div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;        setSupportRadius (<span class="keywordtype">float</span> r)</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;        {</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;          support_radius_ = r;</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;        }</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160; </div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;        <span class="comment">/*void</span></div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;<span class="comment">         setFilterPlanar (bool b)</span></div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;<span class="comment">         {</span></div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;<span class="comment">         filter_planar_ = b;</span></div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;<span class="comment">         }</span></div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;<span class="comment">         void</span></div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;<span class="comment">         filterPlanar (PointInTPtr &amp; input, KeypointCloud &amp; keypoints_cloud)</span></div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;<span class="comment">         {</span></div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;<span class="comment">         pcl::PointCloud&lt;int&gt; filtered_keypoints;</span></div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;<span class="comment">         //create a search object</span></div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;<span class="comment">         typename pcl::search::Search&lt;PointInT&gt;::Ptr tree;</span></div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;<span class="comment">         if (input-&gt;isOrganized ())</span></div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;<span class="comment">         tree.reset (new pcl::search::OrganizedNeighbor&lt;PointInT&gt; ());</span></div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;<span class="comment">         else</span></div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;<span class="comment">         tree.reset (new pcl::search::KdTree&lt;PointInT&gt; (false));</span></div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;<span class="comment">         tree-&gt;setInputCloud (input);</span></div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;<span class="comment">         //std::vector&lt;int&gt; nn_indices;</span></div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;<span class="comment">         //std::vector&lt;float&gt; nn_distances;</span></div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;<span class="comment">         neighborhood_indices_.reset (new std::vector&lt;std::vector&lt;int&gt; &gt;);</span></div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;<span class="comment">         neighborhood_indices_-&gt;resize (keypoints_cloud.points.size ());</span></div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;<span class="comment">         neighborhood_dist_.reset (new std::vector&lt;std::vector&lt;float&gt; &gt;);</span></div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;<span class="comment">         neighborhood_dist_-&gt;resize (keypoints_cloud.points.size ());</span></div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;<span class="comment">         filtered_keypoints.points.resize (keypoints_cloud.points.size ());</span></div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;<span class="comment">         int good = 0;</span></div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;<span class="comment">         //#pragma omp parallel for num_threads(8)</span></div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;<span class="comment">         for (size_t i = 0; i &lt; keypoints_cloud.points.size (); i++)</span></div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;<span class="comment">         {</span></div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;<span class="comment">         if (tree-&gt;radiusSearch (keypoints_cloud[i], support_radius_, (*neighborhood_indices_)[good], (*neighborhood_dist_)[good]))</span></div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;<span class="comment">         {</span></div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;<span class="comment">         EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix;</span></div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;<span class="comment">         Eigen::Vector4f xyz_centroid;</span></div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;<span class="comment">         EIGEN_ALIGN16 Eigen::Vector3f eigenValues;</span></div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;<span class="comment">         EIGEN_ALIGN16 Eigen::Matrix3f eigenVectors;</span></div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;<span class="comment">         //compute planarity of the region</span></div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;<span class="comment">         computeMeanAndCovarianceMatrix (*input, (*neighborhood_indices_)[good], covariance_matrix, xyz_centroid);</span></div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;<span class="comment">         pcl::eigen33 (covariance_matrix, eigenVectors, eigenValues);</span></div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;<span class="comment">         float eigsum = eigenValues.sum ();</span></div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;<span class="comment">         if (!pcl_isfinite(eigsum))</span></div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;<span class="comment">         {</span></div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;<span class="comment">         PCL_ERROR(&quot;Eigen sum is not finite\n&quot;);</span></div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;<span class="comment">         }</span></div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;<span class="comment">         if ((fabs (eigenValues[0] - eigenValues[1]) &lt; 1.5e-4) || (eigsum != 0 &amp;&amp; fabs (eigenValues[0] / eigsum) &gt; 1.e-2))</span></div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;<span class="comment">         {</span></div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;<span class="comment">         //region is not planar, add to filtered keypoint</span></div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;<span class="comment">         keypoints_cloud.points[good] = keypoints_cloud.points[i];</span></div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;<span class="comment">         good++;</span></div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;<span class="comment">         }</span></div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;<span class="comment">         }</span></div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;<span class="comment">         }</span></div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;<span class="comment">         neighborhood_indices_-&gt;resize (good);</span></div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;<span class="comment">         neighborhood_dist_-&gt;resize (good);</span></div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;<span class="comment">         keypoints_cloud.points.resize (good);</span></div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;<span class="comment">         }*/</span></div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160; </div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;      };</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;  }</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;}</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160; </div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* REC_FRAMEWORK_LOCAL_ESTIMATOR_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_filter_html_a17115897ca28f6b12950d023958aa641"><div class="ttname"><a href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">pcl::Filter::filter</a></div><div class="ttdeci">void filter(PointCloud &amp;output)</div><div class="ttdoc">Calls the filtering method and returns the filtered dataset in output.</div><div class="ttdef"><b>Definition:</b> filter.h:132</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint3_d_html"><div class="ttname"><a href="classpcl_1_1_harris_keypoint3_d.html">pcl::HarrisKeypoint3D</a></div><div class="ttdoc">HarrisKeypoint3D uses the idea of 2D Harris keypoints, but instead of using image gradients,...</div><div class="ttdef"><b>Definition:</b> harris_3d.h:53</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint3_d_html_a5699be5c91d0aa6294d1db9d185c3790"><div class="ttname"><a href="classpcl_1_1_harris_keypoint3_d.html#a5699be5c91d0aa6294d1db9d185c3790">pcl::HarrisKeypoint3D::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudInConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> harris_3d.hpp:55</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint3_d_html_a70fba15fb0957bf087d3a17b096545c7"><div class="ttname"><a href="classpcl_1_1_harris_keypoint3_d.html#a70fba15fb0957bf087d3a17b096545c7">pcl::HarrisKeypoint3D::setNormals</a></div><div class="ttdeci">void setNormals(const PointCloudNConstPtr &amp;normals)</div><div class="ttdoc">Set normals if precalculated normals are available.</div><div class="ttdef"><b>Definition:</b> harris_3d.hpp:99</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint3_d_html_a9c95472adc1a41da8860edae7fbf9e90"><div class="ttname"><a href="classpcl_1_1_harris_keypoint3_d.html#a9c95472adc1a41da8860edae7fbf9e90">pcl::HarrisKeypoint3D::setRadius</a></div><div class="ttdeci">void setRadius(float radius)</div><div class="ttdoc">Set the radius for normal estimation and non maxima supression.</div><div class="ttdef"><b>Definition:</b> harris_3d.hpp:78</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint3_d_html_ab7d78e7ad7d9505fea7bfa7d2e836023"><div class="ttname"><a href="classpcl_1_1_harris_keypoint3_d.html#ab7d78e7ad7d9505fea7bfa7d2e836023">pcl::HarrisKeypoint3D::setNonMaxSupression</a></div><div class="ttdeci">void setNonMaxSupression(bool=false)</div><div class="ttdoc">Whether non maxima suppression should be applied or the response for each point should be returned</div><div class="ttdef"><b>Definition:</b> harris_3d.hpp:92</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint3_d_html_abf699289812b5dc5cc79b97df93767a1"><div class="ttname"><a href="classpcl_1_1_harris_keypoint3_d.html#abf699289812b5dc5cc79b97df93767a1">pcl::HarrisKeypoint3D::setMethod</a></div><div class="ttdeci">void setMethod(ResponseMethod type)</div><div class="ttdoc">Set the method of the response to be calculated.</div><div class="ttdef"><b>Definition:</b> harris_3d.hpp:64</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint3_d_html_ad5874363fb23e47c4d3bb038fcb30c1c"><div class="ttname"><a href="classpcl_1_1_harris_keypoint3_d.html#ad5874363fb23e47c4d3bb038fcb30c1c">pcl::HarrisKeypoint3D::setThreshold</a></div><div class="ttdeci">void setThreshold(float threshold)</div><div class="ttdoc">Set the threshold value for detecting corners. This is only evaluated if non maxima suppression is tu...</div><div class="ttdef"><b>Definition:</b> harris_3d.hpp:71</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint3_d_html_af0d6b4d9dae5e0ff5137c19b4352e27e"><div class="ttname"><a href="classpcl_1_1_harris_keypoint3_d.html#af0d6b4d9dae5e0ff5137c19b4352e27e">pcl::HarrisKeypoint3D::setRefine</a></div><div class="ttdeci">void setRefine(bool do_refine)</div><div class="ttdoc">Whether the detected key points should be refined or not. If turned of, the key points are a subset o...</div><div class="ttdef"><b>Definition:</b> harris_3d.hpp:85</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a046a7cd11598b06d2076da69a3100e4b"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a046a7cd11598b06d2076da69a3100e4b">pcl::Keypoint::compute</a></div><div class="ttdeci">void compute(PointCloudOut &amp;output)</div><div class="ttdoc">Base method for key point detection for all points given in &lt;setInputCloud (), setIndices ()&gt; using t...</div><div class="ttdef"><b>Definition:</b> keypoint.hpp:124</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a9dbce2da2ea97dcb4f5635df33a129c9"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a9dbce2da2ea97dcb4f5635df33a129c9">pcl::Keypoint::setSearchSurface</a></div><div class="ttdeci">virtual void setSearchSurface(const PointCloudInConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset that we need to estimate features at every point for.</div><div class="ttdef"><b>Definition:</b> keypoint.h:95</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_acb901dd8879ee9a34b3a87d1cb6d6a37"><div class="ttname"><a href="classpcl_1_1_keypoint.html#acb901dd8879ee9a34b3a87d1cb6d6a37">pcl::Keypoint::setRadiusSearch</a></div><div class="ttdeci">void setRadiusSearch(double radius)</div><div class="ttdoc">Set the sphere radius that is to be used for determining the nearest neighbors used for the key point...</div><div class="ttdef"><b>Definition:</b> keypoint.h:130</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a1952d7101f3942bac3b69ed55c1ca7ea"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">pcl::PCLBase::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_s_i_f_t_keypoint_html"><div class="ttname"><a href="classpcl_1_1_s_i_f_t_keypoint.html">pcl::SIFTKeypoint</a></div><div class="ttdoc">SIFTKeypoint detects the Scale Invariant Feature Transform keypoints for a given point cloud dataset ...</div><div class="ttdef"><b>Definition:</b> sift_keypoint.h:95</div></div>
<div class="ttc" id="aclasspcl_1_1_s_i_f_t_keypoint_html_a5fcabfa4b90cc77cf0c18a5b263d06a0"><div class="ttname"><a href="classpcl_1_1_s_i_f_t_keypoint.html#a5fcabfa4b90cc77cf0c18a5b263d06a0">pcl::SIFTKeypoint::setMinimumContrast</a></div><div class="ttdeci">void setMinimumContrast(float min_contrast)</div><div class="ttdoc">Provide a threshold to limit detection of keypoints without sufficient contrast</div><div class="ttdef"><b>Definition:</b> sift_keypoint.hpp:57</div></div>
<div class="ttc" id="aclasspcl_1_1_s_i_f_t_keypoint_html_aa7b165d782eca9c9d226504b84729439"><div class="ttname"><a href="classpcl_1_1_s_i_f_t_keypoint.html#aa7b165d782eca9c9d226504b84729439">pcl::SIFTKeypoint::setScales</a></div><div class="ttdeci">void setScales(float min_scale, int nr_octaves, int nr_scales_per_octave)</div><div class="ttdoc">Specify the range of scales over which to search for keypoints</div><div class="ttdef"><b>Definition:</b> sift_keypoint.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1_s_u_s_a_n_keypoint_html"><div class="ttname"><a href="classpcl_1_1_s_u_s_a_n_keypoint.html">pcl::SUSANKeypoint</a></div><div class="ttdoc">SUSANKeypoint implements a RGB-D extension of the SUSAN detector inluding normal directions variation...</div><div class="ttdef"><b>Definition:</b> susan.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1_s_u_s_a_n_keypoint_html_a46113c414b9876ad17ce12285acfd98e"><div class="ttname"><a href="classpcl_1_1_s_u_s_a_n_keypoint.html#a46113c414b9876ad17ce12285acfd98e">pcl::SUSANKeypoint::setRadius</a></div><div class="ttdeci">void setRadius(float radius)</div><div class="ttdoc">set the radius for normal estimation and non maxima supression.</div><div class="ttdef"><b>Definition:</b> susan.hpp:61</div></div>
<div class="ttc" id="aclasspcl_1_1_s_u_s_a_n_keypoint_html_a59c1126fb24e12e248d688810fd7e218"><div class="ttname"><a href="classpcl_1_1_s_u_s_a_n_keypoint.html#a59c1126fb24e12e248d688810fd7e218">pcl::SUSANKeypoint::setNonMaxSupression</a></div><div class="ttdeci">void setNonMaxSupression(bool nonmax)</div><div class="ttdoc">Apply non maxima suppression to the responses to keep strongest corners.</div><div class="ttdef"><b>Definition:</b> susan.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1_s_u_s_a_n_keypoint_html_af267b2591d5c90eaa383dfc4e4bdd3fb"><div class="ttname"><a href="classpcl_1_1_s_u_s_a_n_keypoint.html#af267b2591d5c90eaa383dfc4e4bdd3fb">pcl::SUSANKeypoint::setNormals</a></div><div class="ttdeci">void setNormals(const PointCloudNConstPtr &amp;normals)</div><div class="ttdoc">set normals if precalculated normals are available.</div><div class="ttdef"><b>Definition:</b> susan.hpp:89</div></div>
<div class="ttc" id="aclasspcl_1_1_uniform_sampling_html"><div class="ttname"><a href="classpcl_1_1_uniform_sampling.html">pcl::UniformSampling</a></div><div class="ttdoc">UniformSampling assembles a local 3D grid over a given PointCloud, and downsamples + filters the data...</div><div class="ttdef"><b>Definition:</b> uniform_sampling.h:62</div></div>
<div class="ttc" id="aclasspcl_1_1_uniform_sampling_html_aca9ee065b797d845f506a6390bcdc064"><div class="ttname"><a href="classpcl_1_1_uniform_sampling.html#aca9ee065b797d845f506a6390bcdc064">pcl::UniformSampling::setRadiusSearch</a></div><div class="ttdeci">virtual void setRadiusSearch(double radius)</div><div class="ttdoc">Set the 3D grid leaf size.</div><div class="ttdef"><b>Definition:</b> uniform_sampling.h:98</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_harris_keypoint_extractor_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_harris_keypoint_extractor.html">pcl::rec_3d_framework::HarrisKeypointExtractor</a></div><div class="ttdef"><b>Definition:</b> local_estimator.h:252</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_keypoint_extractor_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_keypoint_extractor.html">pcl::rec_3d_framework::KeypointExtractor</a></div><div class="ttdef"><b>Definition:</b> local_estimator.h:38</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_local_estimator_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_local_estimator.html">pcl::rec_3d_framework::LocalEstimator</a></div><div class="ttdef"><b>Definition:</b> local_estimator.h:376</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_local_estimator_html_a6eca5d0c6db132f2e743a56a2430401a"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_local_estimator.html#a6eca5d0c6db132f2e743a56a2430401a">pcl::rec_3d_framework::LocalEstimator::addKeypointExtractor</a></div><div class="ttdeci">void addKeypointExtractor(boost::shared_ptr&lt; KeypointExtractor&lt; PointInT &gt; &gt; &amp;ke)</div><div class="ttdoc">Right now only uniformSampling keypoint extractor is allowed</div><div class="ttdef"><b>Definition:</b> local_estimator.h:440</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_pre_processor_and_normal_estimator_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_pre_processor_and_normal_estimator.html">pcl::rec_3d_framework::PreProcessorAndNormalEstimator</a></div><div class="ttdef"><b>Definition:</b> normal_estimator.h:23</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_s_i_f_t_keypoint_extractor_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_s_i_f_t_keypoint_extractor.html">pcl::rec_3d_framework::SIFTKeypointExtractor</a></div><div class="ttdef"><b>Definition:</b> local_estimator.h:178</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_s_i_f_t_surface_keypoint_extractor_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_s_i_f_t_surface_keypoint_extractor.html">pcl::rec_3d_framework::SIFTSurfaceKeypointExtractor</a></div><div class="ttdef"><b>Definition:</b> local_estimator.h:202</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_s_u_s_a_n_keypoint_extractor_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_s_u_s_a_n_keypoint_extractor.html">pcl::rec_3d_framework::SUSANKeypointExtractor</a></div><div class="ttdef"><b>Definition:</b> local_estimator.h:326</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_uniform_sampling_extractor_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_uniform_sampling_extractor.html">pcl::rec_3d_framework::UniformSamplingExtractor</a></div><div class="ttdef"><b>Definition:</b> local_estimator.h:77</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a></div><div class="ttdoc">search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...</div><div class="ttdef"><b>Definition:</b> kdtree.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_organized_neighbor_html"><div class="ttname"><a href="classpcl_1_1search_1_1_organized_neighbor.html">pcl::search::OrganizedNeighbor</a></div><div class="ttdoc">OrganizedNeighbor is a class for optimized nearest neigbhor search in organized point clouds.</div><div class="ttdef"><b>Definition:</b> organized.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_a3f7aa9ba73d098c204bc8a6b9dd293dc"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#a3f7aa9ba73d098c204bc8a6b9dd293dc">pcl::search::Search::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud, const IndicesConstPtr &amp;indices=IndicesConstPtr())</div><div class="ttdoc">Pass the input dataset that the search will be performed on.</div><div class="ttdef"><b>Definition:</b> search.hpp:76</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_a441f41e648d284d68e1f2015d40f5e7c"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#a441f41e648d284d68e1f2015d40f5e7c">pcl::search::Search::radiusSearch</a></div><div class="ttdeci">virtual int radiusSearch(const PointT &amp;point, double radius, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn=0) const =0</div><div class="ttdoc">Search for all the nearest neighbors of the query point in a given radius.</div></div>
<div class="ttc" id="agroup__common_html_ga72dfb6e965df9752c88790e026a8ab5f"><div class="ttname"><a href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">pcl::computeMeanAndCovarianceMatrix</a></div><div class="ttdeci">unsigned int computeMeanAndCovarianceMatrix(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, Eigen::Matrix&lt; Scalar, 3, 3 &gt; &amp;covariance_matrix, Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid)</div><div class="ttdoc">Compute the normalized 3x3 covariance matrix and the centroid of a given set of points in a single lo...</div><div class="ttdef"><b>Definition:</b> centroid.hpp:489</div></div>
<div class="ttc" id="agroup__common_html_gaa65b1c8d782e7b776ae682679d2d948f"><div class="ttname"><a href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a></div><div class="ttdeci">PCL_EXPORTS void copyPointCloud(const pcl::PCLPointCloud2 &amp;cloud_in, const std::vector&lt; int &gt; &amp;indices, pcl::PCLPointCloud2 &amp;cloud_out)</div><div class="ttdoc">Extract the indices of a given point cloud as a new point cloud</div></div>
<div class="ttc" id="agroup__common_html_gaca873868052e7d26efcf4b684a17bef2"><div class="ttname"><a href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a></div><div class="ttdeci">void eigen33(const Matrix &amp;mat, typename Matrix::Scalar &amp;eigenvalue, Vector &amp;eigenvector)</div><div class="ttdoc">determines the eigenvector and eigenvalue of the smallest eigenvalue of the symmetric positive semi d...</div><div class="ttdef"><b>Definition:</b> eigen.hpp:251</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates. (SSE friendly)</div><div class="ttdef"><b>Definition:</b> point_types.hpp:282</div></div>
<div class="ttc" id="astructpcl_1_1_s_i_f_t_keypoint_field_selector_html"><div class="ttname"><a href="structpcl_1_1_s_i_f_t_keypoint_field_selector.html">pcl::SIFTKeypointFieldSelector</a></div><div class="ttdef"><b>Definition:</b> sift_keypoint.h:45</div></div>
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